add positive longitudinal velocity condition for straight_trajectory test

kyoichi-sugahara · kyoichi-sugahara · commit 66300f1ed7cc · 2024-03-16T23:58:26.000+09:00
Signed-off-by: kyoichi-sugahara &lt;kyoichi.sugahara@tier4.jp&gt;
diff --git a/control/trajectory_follower_node/test/test_controller_node.cpp b/control/trajectory_follower_node/test/test_controller_node.cpp
@@ -252,8 +252,10 @@ TEST_F(FakeNodeFixture, straight_trajectory)
 
   test_utils::waitForMessage(tester.node, this, tester.received_control_command);
   ASSERT_TRUE(tester.received_control_command);
+  // following conditions will pass even if the MPC solution does not converge
   EXPECT_EQ(tester.cmd_msg->lateral.steering_tire_angle, 0.0f);
   EXPECT_EQ(tester.cmd_msg->lateral.steering_tire_rotation_rate, 0.0f);
+  EXPECT_GT(tester.cmd_msg->longitudinal.speed, 0.0f);
   EXPECT_GT(rclcpp::Time(tester.cmd_msg->stamp), rclcpp::Time(traj_msg.header.stamp));
 }
 

Original file line number	Diff line number	Diff line change
`@@ -252,8 +252,10 @@ TEST_F(FakeNodeFixture, straight_trajectory)`
`252`	`252`
`253`	`253`	`test_utils::waitForMessage(tester.node, this, tester.received_control_command);`
`254`	`254`	`ASSERT_TRUE(tester.received_control_command);`
	`255`	`+ // following conditions will pass even if the MPC solution does not converge`
`255`	`256`	`EXPECT_EQ(tester.cmd_msg->lateral.steering_tire_angle, 0.0f);`
`256`	`257`	`EXPECT_EQ(tester.cmd_msg->lateral.steering_tire_rotation_rate, 0.0f);`
	`258`	`+ EXPECT_GT(tester.cmd_msg->longitudinal.speed, 0.0f);`
`257`	`259`	`EXPECT_GT(rclcpp::Time(tester.cmd_msg->stamp), rclcpp::Time(traj_msg.header.stamp));`
`258`	`260`	`}`
`259`	`261`